水下滑翔机建模与运动PID控制

Modeling and PID Control of Underwater Glider Motion

水下滑翔机是一种浮力驱动的新型水下航行器,其特殊的驱动方式和结构特点增加了建模和控制分析的复杂度。为获得准确有效的水下运动控制方法,本文通过滑翔机运动学和动力学分析,建立了较为完善的3D空间数学模型,并进行了合理的假设和简化,得到纵平面内小扰动线性化模型。在此基础上,设计了比例积分微分(PID)控制器。并针对滑翔机的纵平面运动进行了仿真分析,结果显示,PID控制器有很好的干扰抑制能力和跟踪性能,由此也验证了纵平面内滑翔机的运动特性。

Underwater glider is a new kind of autonomous underwater vehicle driven by buoyancy force,however its special drive mode and structural characteristics increase the complexity of modeling and control analysis.To obtain an accurate and efficient control strategy for underwater motion,a complete three-dimensional mathematical model is built by analyzing kinematics and dynamics of the glider via some reasonable assumptions and simplification,thus a small disturbance vertical plane linear model is achieved.On this basis,a proportional integral differential（PID） controller is designed.In addition,the vertical plane motion of the glider is simulated.The simulation results verify the vertical plane motion characteristics of the glider using the PID controller,and demonstrate its better disturbance resistance and tracking performance.